{"id":900,"date":"2020-03-15T01:57:26","date_gmt":"2020-03-15T01:57:26","guid":{"rendered":"http:\/\/ryma.cinvestav.mx\/ronihm\/?post_type=project&p=900"},"modified":"2020-03-15T02:10:38","modified_gmt":"2020-03-15T02:10:38","slug":"contact-force-tracking-of-quadrotors-based-on-robust-attitude-control","status":"publish","type":"project","link":"https:\/\/ryma.cinvestav.mx\/ronihm\/project\/contact-force-tracking-of-quadrotors-based-on-robust-attitude-control\/","title":{"rendered":"Contact force tracking of quadrotors based on robust attitude control"},"content":{"rendered":"

Quadrotors are autonomous aerial vehicles widely developed in the last decade due to their small size, low weight and vertical take off and landing capabilities. Nowadays, some demanding applications involve the quadrotor interacting with rigid objects, requiring stable contact and force tracking. In this project, an attitude control is proposed to handle force tracking by exploiting the high couplings among force, position and attitude dynamics. The proposed controller enforces a fractional sliding motion in finite-time to guarantee robust force tracking stabilisation in spite of disturbances and dynamical uncertainties. Experiments show additional theoretical and technological features to incorporate this flight mode in applications.<\/p>\n

<\/i> Project Leader:<\/strong> Dr. Anand S\u00e1nchez Orta<\/p>\n

<\/i> Email:<\/strong> anand.sanchez@cinvestav.mx<\/a>\u00a0\u00a0 <\/i> Tel.<\/strong> (844)438-96-00 Ext. 8510<\/p>\n

<\/i> ryma.cinvestav.mx\/asanchez<\/a><\/p>\n","protected":false},"excerpt":{"rendered":"

Quadrotors are autonomous aerial vehicles widely developed in the last decade due to their small size, low weight and vertical take off and landing capabilities. Nowadays, some demanding applications involve the quadrotor interacting with rigid objects, requiring stable contact and force tracking. In this project, an attitude control is proposed to handle force tracking by […]<\/p>\n","protected":false},"author":21,"featured_media":901,"comment_status":"open","ping_status":"closed","template":"","meta":{"_et_pb_use_builder":"","_et_pb_old_content":"","_et_gb_content_width":"","footnotes":""},"project_category":[],"project_tag":[],"class_list":["post-900","project","type-project","status-publish","has-post-thumbnail","hentry"],"yoast_head":"\nContact force tracking of quadrotors based on robust attitude control - Non-Inertial Robotics and Human-Machine Interfaces<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/ryma.cinvestav.mx\/ronihm\/project\/contact-force-tracking-of-quadrotors-based-on-robust-attitude-control\/\" \/>\n<meta property=\"og:locale\" content=\"es_ES\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"Contact force tracking of quadrotors based on robust attitude control - Non-Inertial Robotics and Human-Machine Interfaces\" \/>\n<meta property=\"og:description\" content=\"Quadrotors are autonomous aerial vehicles widely developed in the last decade due to their small size, low weight and vertical take off and landing capabilities. 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